JP2799459B2 - Embroidery sewing machine - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an embroidery sewing machine, and more particularly to an embroidery sewing machine that moves in the X-axis and Y-axis directions.

[Prior Art] A conventional embroidery sewing machine of this type is disclosed in JP-A-63-2836.
The technology described in the 94 gazette can be mentioned.

The technique described in this publication is to move an embroidery frame in the X-axis direction and the Y-axis direction by a stepping motor, and to perform a predetermined embroidery by a digital signal received from an external controller.

[Problems to be Solved by the Invention] However, a conventional embroidery sewing machine uses a stepping motor in order to facilitate digital processing.
The driving torque was not so large. That is, although there is no problem during the normal embroidery operation, if there is any obstacle on the upper part of the base, the movement of the embroidery frame in the X-axis direction or the Y-axis direction is restricted, and the embroidery position is changed during the embroidery operation. May shift. Further, even when the voltage drops during the embroidery operation, the embroidery position may be shifted. As described above, if the position of the embroidery is shifted at a predetermined position, the influence of the shift cannot be removed until the end.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an embroidery sewing machine capable of correcting an amount of movement of a stepping motor when sewing is restricted during sewing and performing embroidery at an original designated position. .

[MEANS FOR SOLVING THE PROBLEMS] An embroidery sewing machine according to claim 1, wherein an X-axis stepping motor for moving an embroidery frame in an X-axis direction, an X-axis encoder disposed on an axis of the X-axis stepping motor, and an X-axis encoder. An X-axis home position switch for detecting the reference position of the embroidery frame in the axial direction, a Y-axis stepping motor for moving the embroidery frame in the Y-axis direction, a Y-axis encoder disposed on the axis of the Y-axis stepping motor, and a Y-axis direction A Y-axis home position switch for detecting the reference position of the embroidery frame, a needle sensor for outputting a signal for synchronizing the independently driven X-axis stepping motor and the Y-axis stepping motor, an X-axis direction for moving the embroidery frame, and A target memory for storing a target position in the Y-axis direction, and output signals of the X-axis and Y-axis encoders are counted to indicate the actual position of the embroidery frame. A counter for calculating the difference between the value of the target memory and the value of the counter, and using the calculated value as a correction value to correct the contents of the target memory.

An embroidery sewing machine according to claim 2 performs the correction of claim 1 by calculating a difference between a target memory value and a counter value,
Using the correction value as a correction value, the contents of the target memory are corrected, a switch operation is determined, and a continuous operation is permitted.

[Operation] In claim 1, the X-axis home position switch detects the reference position of the embroidery frame in the X-axis direction, and the Y-axis home position switch detects the reference position of the embroidery frame in the Y-axis direction. At this time, a target memory for storing target positions in the X-axis direction and the Y-axis direction for moving the embroidery frame and a counter indicating the actual positions of the embroidery frame in the X-axis direction and the Y-axis direction are cleared. Thereafter, each time the embroidery frame is moved by synchronizing the X-axis stepping motor and the Y-axis stepping motor independently driven by the needle sensor, the difference between the value of the target memory and the value of the counter is calculated, and the correction value is calculated. To correct the contents of the target memory.

In claim 2, the correction of claim 1 is performed by calculating the difference between the value of the target memory and the counter, correcting the content of the target memory using the difference as a correction value, and waiting for an operation of a switch to continue operation. This is to judge whether or not to enter, and to detect a defective product at an early stage.

[Example] Hereinafter, an example of the present invention will be described.

FIG. 1 is an overall perspective view of an embroidery sewing machine according to one embodiment of the present invention. FIG. 2 is a bottom view of the embroidery sewing machine according to one embodiment of the present invention when the bed cover is removed, and FIG. 3 is a view showing the structure of the embroidery sewing machine according to one embodiment of the present invention in the X-axis direction. FIG. 4 is a fragmentary sectional view showing the structure in the Y-axis direction of the embroidery sewing machine according to one embodiment of the present invention.

The appearance of the embroidery sewing machine according to the present embodiment is, as shown in a perspective view of FIG. 1, a needle plate 40 and a needle insertion hole formed in the needle plate 40.
A base 14 having an upper surface 41 and a needle at the end of the base 14
An arm housing 42 containing a needle bar, a needle bar arm, etc., mounted with 44, a top cover 43, and an embroidery frame 1 that moves in parallel along the X-axis direction and the Y-axis direction on the upper surface of the base 14. I have.

The embroidery holder 1 has an X-axis shaft 7 fixed to an X-axis motor bracket 6 inserted therethrough, and is fixed to the X-axis timing belt 4 by an X-axis timing belt holder 5. The X-axis gear 8 attached to the X-axis stepping motor 11, the X-axis timing pulley 2, and the X-axis timing belt 4 stretched between the X-axis timing pulley 2 and the X-axis idle pulley 3, When the shaft stepping motor 11 rotates, it moves in parallel along the X-axis shaft 7 extending in the vertical direction in FIG.

The X-axis motor bracket holder 13 passes through the Y-axis shaft 15 fixed to the base 14, and the Y-axis timing belt
Fixed to 17. When the Y-axis stepping motor 18 attached to the Y-axis motor bracket 22 fixed to the base 14 with screws or the like rotates, the Y-axis motor gear 19 and the Y-axis timing pulley 20 attached to the Y-axis stepping motor 18 rotate. And the Y-axis timing pulley 20
The Y-axis motor timing belt holder 16 is moved in parallel along the Y-axis shaft 15 by the Y-axis timing belt 17 stretched between the Y-axis idle pulley 21 and the Y-axis idle pulley 21.

X-axis stepping motor 11 and Y-axis stepping motor
18 is driven independently by a pulse output from the microcomputer 24 shown in FIG. 5 in synchronization with the signal of the needle sensor 23.

X-axis rotary encoder disk 25 shown in FIG.
Are fixed to the shaft of the X-axis stepping motor 11. The X-axis photo-interrupter board 26 is provided with the X-axis rotary encoder disc 25 described above.
Is mounted on the X-axis motor bracket 6 so as to be sandwiched between the light receiving portion and the light emitting portion. The X-axis rotary encoder disk 25, X-axis photo-interrupter board 26, and photo-interrupter 27 constitute an X-axis rotary encoder. The signal of the photo interrupter 27 is input to the counter 28 shown in FIG.

The X-axis home position switch 29 is attached to the X-axis motor bracket 6 so that when the embroidery frame holder 1 moves to the right end in the figure, the X-axis home position switch 29 is pushed by the side surface of the embroidery frame holder 1 so that the contacts come into contact. . The X-axis home position switch 29 is attached to the X-axis motor bracket 6 so that when the embroidery frame holder 1 moves to the far right end in FIG. Have been. The signal of the X-axis home position switch 29 is input to the microcomputer 24 of FIG. Similarly, the Y-axis rotary encoder disk 30 is fixed to the shaft of the Y-axis stepping motor 18. The Y-axis photo-interrupter board 31 is mounted on the Y-axis motor bracket 22 so as to sandwich the Y-axis rotary encoder disk 30 between the light receiving section and the light emitting section of the photo interrupter 32. The Y-axis rotary encoder disk 30, Y-axis photo-interrupter board 31, and photo-interrupter 32 constitute a Y-axis rotary encoder.

The signal of this photo interrupter 32 is the counter of FIG.
Entered in 28. Further, the Y-axis home position sensor board 33 is turned on when the light shielding plate 34 attached to the Y-axis motor timing belt holder 16 fixed to the Y-axis timing belt 17 moves to the right end in the drawing. It is attached to the base 14 so as to be sandwiched between the light receiving section and the light emitting section. This Y axis home position switch 35
Are input to the microcomputer 24 shown in FIG. The microcomputer 24 and the counter 28 are directly connected by a count value reset and count value output request signal line and a count value output line.

FIG. 5 is a schematic configuration diagram of an embroidery sewing machine control device for controlling an embroidery sewing machine according to one embodiment of the present invention.

The microcomputer 24 receives embroidery data from a controller such as an external personal computer. In addition, the microcomputer 24
Are a main motor for driving the needle 44, a clutch solenoid for adjusting the operation timing of the shuttle and the needle 44, not shown, an X-axis stepping motor 11 composed of a pulse motor, a Y-axis stepping motor 18 also composed of a pulse motor, and an embroidery frame 1. A display lamp or the like for indicating that a displacement has occurred is connected to the output port.

The microcomputer 24 includes an X-axis rotary encoder disk 25, an X-axis rotary encoder disk comprising an X-axis photointerrupter substrate 26, and a photointerrupter 27, and a Y-axis rotary encoder disk 30, a Y-axis photointerrupter substrate 31, and a Y-axis comprising a photointerrupter 32. Signals such as an axis rotary encoder, an X-axis home position switch 29, a Y-axis home position switch 35, and a manual restart switch for continuing the embroidery operation when the cause of the deviation is eliminated are input.

Further, the microcomputer 24 inputs sensor signals such as top cover open detection, thread cut detection, shuttle cover open detection, and needle above detection as an embroidery sewing machine.

The embroidery sewing machine according to the embodiment of the present invention thus configured is controlled as shown in FIG. 6 and FIG.

6 and 7 are flowcharts of control of the embroidery sewing machine according to one embodiment of the present invention.

First, in step S1, the memory required to execute this program is initialized, and a counter, an output port, and the like are initialized. X-axis home position switch in step S2
It is determined whether or not 29 is on. If the X-axis home position switch 29 is not on, the X-axis stepping motor 11 is rotated in step S3 to move the embroidery frame 1 to the home position. If it is determined in step S2 that the X-axis home position switch 29 is ON, then in step S4 Y
Judge whether the axis home position switch 35 is on,
If the Y-axis home position switch 35 is not on, the Y-axis stepping motor 18 is moved to the home position in step S5. If it is determined in step S4 that the Y-axis home position switch 35 is on,
In S6, the X-axis counter Cx is set to “0” and the Y-axis counter Cy is set to “0”. Next, in step S7, the X-axis target memory Mx for embroidery position data is set to "0" and the Y-axis target memory My is set to "0". Steps
In step S8, a start signal of embroidery data is determined from a controller such as a personal computer. When arrival of the start signal is confirmed, the values of the X-axis counter Cx and the Y-axis counter Cy are set in step S9. It is determined whether the X-axis target memory Mx for position data and the Y-axis target memory My are equal. That is, here, the values of the X-axis target memory My and the Y-axis target memory My in which the target position of the embroidery frame 1 is set are the X-axis target memory My representing the actual position of the embroidery frame 1. It is determined whether or not the values of the counter Cx and the Y-axis counter Cy are equal, that is, whether or not the embroidery frame 1 is shifted. When this routine is first entered, the values of the target memory My for the X axis, the target memory My for the Y axis,
Since the values of the X-axis counter Cx and the Y-axis counter Cy are “0”, a correction flag indicating that there is no need to perform correction in step S10 is set to “0”, and step S1 is performed.
In step 1, embroidery data Ix and Iy are read from a controller such as a personal computer.

When the values of the X-axis counter Cx and the Y-axis counter Cy are not equal to the values of the X-axis target memory Mx for the embroidery position data and the Y-axis target memory My in step S9, In step S12, the X-axis counter Cx is subtracted from the X-axis target memory Mx, and the result is
It is stored as the correction value Nx. Further, the counter Cy for the Y axis is subtracted from the target memory My for the Y axis, and the result is stored as a correction value Ny. Where the correction value
The values of Nx and Ny indicate the magnitude and direction of the deviation between the actual position of the embroidery frame 1 and the target position. Next, in step S13, the correction flag is set to "1", and the fact that a deviation has occurred is stored.

It is determined in step S14 whether the correction flag is "1". If the correction flag is not "1", that is, if the embroidery frame 1 has reached the target position, the embroidery data Ix, read in step S11. Iy is added to the values of the target memory My for the X-axis and the target memory My for the Y-axis, and this is used as the value of the new target memory Mx, My. When the correction flag is "1" in step S14, that is, when the embroidery frame 1 does not reach the target position and needs to be corrected, the correction value Nx is added to the X-axis target memory Mx, This is set as a new target memory Mx for the X axis, that is, Mx ← Mx + Nx. At the same time, the correction value Ny is added to the Y-axis target memory My, and the result is added to a new Y-axis target memory My, that is,
My ← My + Ny

Next, in step S17, the X-axis stepping motor 11 is driven by the X-axis target memory Mx.
In step 8, the Y-axis stepping motor 18 is driven by the Y-axis target memory My to move the embroidery frame 1 to the target position.

Then, in step S19, the values of the X-axis counter Cx and the Y-axis counter Cy corresponding to the distance actually moved are read, and in step S20, the values of the X-axis counter Cx and the Y-axis counter Cy are read. , X-axis target memory Mx and Y-axis target memory My. That is,
This time, the target memory for the X axis to which the embroidery frame 1 should move
The values of the target memory My for the Mx and Y axes, the X-axis counter Cx and the Y-axis counter indicating the actual position of the embroidery frame 1
It is determined whether the values of Cy are equal and the embroidery frame 1 is not shifted. X
When the values of the axis counter Cx and the Y-axis counter Cy are equal to the values of the X-axis target memory Mx and the Y-axis target memory My, and the embroidery frame 1 is not displaced,
The routine from step S10 to step S20 is repeatedly executed.

When it is determined in step S20 that the values of the X-axis counter Cx and the Y-axis counter Cy are not equal to the values of the X-axis target memory Mx and the Y-axis target memory My, the operation is stopped in step S21. In step S22, the fact that there is a shift and the vehicle is in a stopped state is displayed using a display lamp. This state is continued until the restart switch is operated in step S23. That is, when the operator knows that the shift has occurred and is in a stopped state, the degree of the shift is checked, the cause is removed, and when the embroidery can be continued as it is, the embroidery is operated by operating the restart switch. Resume. At this time, the process passes through a correction routine including steps S9, 12, 13, and S14 and S16.

As described above, the embroidery sewing machine according to the embodiment of the present invention includes the X-axis stepping motor 11 that moves the embroidery frame 1 in the X-axis direction.
An X-axis encoder disposed on the axis of the X-axis stepping motor 11, an X-axis home position switch 29 for detecting a reference position of the embroidery frame 1 in the X-axis direction, and moving the embroidery frame 1 in the Y-axis direction. Y-axis stepping motor 18, Y-axis encoder disposed on the axis of Y-axis stepping motor 18, Y-axis home position switch 35 for detecting reference position of embroidery frame 1 in Y-axis direction, and moving embroidery frame 1 The target memories Mx and M read the embroidery data Ix and Iy in the X-axis direction and the Y-axis direction, and correct and store the data as necessary.
y and X driven by the contents of the target memory Mx, My
A counter (28) C that counts the movement distances in the axial direction and the Y-axis direction as output signals of the X-axis and Y-axis encoders and counts them.
x, Cy, and the difference between the values of the target memories Mx, My and the counters Cx, Cy is calculated, and as a correction value, the contents of the target memories Mx, My are corrected from Step S9 to Step S9.
Correction means comprising 16 routines.

Therefore, the embroidery data Ix and Iy are read from a controller such as a personal computer, and the embroidery data Ix and Iy are read.
The X-axis stepping motor 11 and the Y-axis stepping motor 18 are rotated by the X-axis target memory Mx and the Y-axis target memory My based on x and Iy to move the embroidery frame 1 to a predetermined position. . The movement of the embroidery frame 1 at this time corresponds to the distance actually moved by the X-axis encoder disposed on the axis of the X-axis stepping motor 11 and by the Y-axis encoder disposed on the axis of the Y-axis stepping motor 18. Generate a pulse number, count it with counters Cx and Cy, and
The X-axis counter Cx corresponding to the distance actually moved is subtracted from the axis target memory Mx to obtain a correction value Nx, and the actual movement from the Y-axis target memory My for embroidery position data is performed. The Y-axis counter Cy corresponding to the distance is subtracted, and the next acquired X-axis target memory Mx and Y-axis target memory are taken as the correction value Ny.
My is corrected, so that the next embroidery data X
Embroidery is performed using corrected values for the axis target memory Mx and the Y axis target memory My. Therefore, when the X-axis stepping motor 11 and the Y-axis stepping motor 18 do not match the actual movement with the X-axis target memory Mx and the Y-axis target memory My of the movement distance based on the embroidery data, the next embroidery is performed. Data is corrected, and the operation is stopped in the routine from step S21 to step S23, so that the operator can check the state of the embroidery and determine whether to continue, and the deviation can be absorbed only at the embroidery position.
It has no other effect.

In the above embodiment, in step S20, the values of the X-axis target memory Mx and the Y-axis target memory My of the embroidery data and the X-axis counter C
Although it is determined whether the values of the counters Cy for the x and Y axes are equal, it may be determined whether the values are within a predetermined allowable error range. Alternatively, the determination of the operation of the restart switch in step S23 is based on the values of the target memory Mx for the X axis, the target memory My for the Y axis, and the counter Cx for the X axis that has actually moved.
It may be determined whether the value of the Y-axis counter Cy is within a predetermined allowable error range.

Further, the X-axis home position switch 29 and the Y-axis home position switch 35 for detecting the reference position of the embroidery frame in the X-axis direction in the above embodiment use contact switches and proximity switches, but the present invention is implemented. In this case, either the X-axis home position switch 29 or the Y-axis home position switch 35 may be selected.

Although the embodiment of the present invention has been described by limiting to an embroidery sewing machine, the technique of the present invention can be used for an apparatus having an X axis and a Y axis and driving them by a stepping motor.

[Effects of the Invention] As described above, the embroidery sewing machine according to claim 1 includes a stepping motor that moves an embroidery frame in the X-axis direction and the Y-axis direction, an encoder disposed on a shaft of the stepping motor, and an X-axis. A home position switch for detecting the reference position of the embroidery frame in the direction and the Y-axis direction, a needle sensor for outputting a signal for synchronizing the independently driven X-axis stepping motor and the Y-axis stepping motor, and an X for moving the embroidery frame. A target memory for storing target positions in the axial direction and the Y-axis direction, a counter for counting output signals of the X-axis and Y-axis encoders, and a counter representing the actual position of the embroidery frame, and a difference between the values of the target memory and the counter. And a correction means for correcting the content of the target memory by using the calculated value as a correction value.

Therefore, when the movement of the embroidery frame by the stepping motor shifts due to the presence of an obstacle or a drop in voltage during the sewing operation, the difference between the value of the target memory and the value of the counter is calculated, and the correction value is calculated. Since the content of the target memory, which is the next embroidery position data, can be corrected, even if a shift occurs in the movement of the embroidery frame, the influence of the shift can be corrected.

According to a second aspect of the present invention, the correction of the first aspect is performed by calculating a difference between a value of a target memory and a counter, using the calculated value as a correction value, correcting the contents of the target memory, and determining whether or not to continue the operation. Since it is determined by the operation, even if a shift occurs during embroidery, the degree of the shift can be confirmed and embroidery can be continued. In addition, the influence of the displacement can be determined at an early stage, and there is no need to release the embroidery thread after the embroidery is completed.

[Brief description of the drawings]

FIG. 1 is an overall perspective view of an embroidery sewing machine according to one embodiment of the present invention, FIG. 2 is a bottom view of the embroidery sewing machine according to one embodiment of the present invention with a bet cover removed, and FIG. FIG. 4 is a sectional view of a main part showing a structure in an X-axis direction of the embroidery sewing machine according to one embodiment of the present invention;
FIG. 4 is a sectional view of a main part showing the structure of an embroidery sewing machine according to one embodiment of the present invention in the Y-axis direction. FIG. 5 is an embroidery sewing machine control device for controlling the embroidery sewing machine according to one embodiment of the present invention. 6 and 7 are control flowcharts of the embroidery sewing machine according to one embodiment of the present invention. In the figure, 1: Embroidery frame 11: X-axis stepping motor 18: Y-axis stepping motor 29: X-axis home position switch 35: Y-axis home position switch Mx, My: target memory Cx, Cy: counter. In the drawings, the same reference numerals and symbols indicate the same or corresponding parts.

Claims (2)

(57) [Claims] 1. An X-axis stepping motor for moving an embroidery frame in the X-axis direction, an X-axis encoder disposed on the axis of the X-axis stepping motor, and an X-axis for detecting a reference position of the embroidery frame in the X-axis direction. A home position switch, a Y-axis stepping motor for moving the embroidery frame in the Y-axis direction, a Y-axis encoder disposed on the axis of the Y-axis stepping motor, and a Y for detecting a reference position of the embroidery frame in the Y-axis direction.
An axis home position switch, a needle-on sensor for outputting a signal for synchronizing the independently driven X-axis stepping motor and Y-axis stepping motor, and a target for storing target positions in the X-axis direction and the Y-axis direction for moving the embroidery frame A memory, counting the output signals of the X-axis and Y-axis encoders, a counter representing the actual position of the embroidery frame, calculating the difference between the target memory and the value of the counter, and using that as a correction value, An embroidery sewing machine comprising: a correction unit configured to correct the content. 2. The apparatus according to claim 1, wherein the correction means calculates a difference between a value of the target memory and a value of the counter, uses the calculated value as a correction value, corrects the contents of the target memory, and includes a switch for permitting a continuous operation. The embroidery sewing machine according to claim 1, wherein: